5 citations · 5 across the 7 of their papers we have counts for
7 papers
Imagine then Verify: Affordance-Targeted Active Perception for Task-Oriented Grasping in Cluttered Scenes
Jingzhi Cui, Xuefeng Liu, Feng Han +3
Task-oriented grasping (TOG) requires robots to grasp functional parts of objects (e.g., the handle of a mug for pouring), yet these affordance regions are frequently occluded in c…
InvariantCloud: A Globally Invariant, Uniquely Indexed Point Cloud Framework for Robust 6-DoF Tactile Pose Tracking
Pengfei Ye, Yuxiang Ma, Yi Zhou +3
Recent advances in imitation learning and vision-language models highlight the need for high-fidelity tactile perception, with 6-DoF tactile object pose estimation providing a cruc…
Learning Bimanual Cloth Manipulation with Vision-based Tactile Sensing via Single Robotic Arm
Dongmyoung Lee, Wei Chen, Xiaoshuai Chen +2
Robotic cloth manipulation remains challenging due to the high-dimensional state space of fabrics, their deformable nature, and frequent occlusions that limit vision-based sensing.…
A Backbone for Long-Horizon Robot Task Understanding
Xiaoshuai Chen, Wei Chen, Dongmyoung Lee +3
End-to-end robot learning, particularly for long-horizon tasks, often results in unpredictable outcomes and poor generalization. To address these challenges, we propose a novel The…
Synthetic data enables faster annotation and robust segmentation for multi-object grasping in clutter
Dongmyoung Lee, Wei Chen, Nicolas Rojas
Object recognition and object pose estimation in robotic grasping continue to be significant challenges, since building a labelled dataset can be time consuming and financially cos…
TraKDis: A Transformer-based Knowledge Distillation Approach for Visual Reinforcement Learning with Application to Cloth Manipulation
Wei Chen, Nicolas Rojas
Approaching robotic cloth manipulation using reinforcement learning based on visual feedback is appealing as robot perception and control can be learned simultaneously. However, ma…
G.O.G: A Versatile Gripper-On-Gripper Design for Bimanual Cloth Manipulation with a Single Robotic Arm
Dongmyoung Lee, Wei Chen, Xiaoshuai Chen +1
The manipulation of garments poses research challenges due to their deformable nature and the extensive variability in shapes and sizes. Despite numerous attempts by researchers to…